Laser radar auxiliary container alignment method for port unmanned container truck

Abstract

The invention discloses a laser radar auxiliary container alignment method for a port unmanned container truck, and the method comprises the following steps: obtaining laser radar point cloud data, and extracting the point cloud of a detection region; fitting all straight lines in the point cloud of the detection area through a straight line detection algorithm; traversing all straight lines, extracting a straight line, perpendicular to the positive direction of the laser origin, of the edge of a vehicle-mounted container; calculating the distance from the laser origin to the vehicle-mounted container, traversing all straight lines, extracting the straight line, perpendicular to the positive direction of the laser origin, of the vertex of the outer side of a floor container, calculating the distance from the laser origin to the floor container, and calculating the alignment difference value of the vehicle-mounted container and the floor container. Compared with traditional UWB positioning, the alignment precision is within 5 cm and adapts to allowable errors of a port, the alignment precision is high, the vehicle-mounted container and the landing container are placed in an alignedmode so that a port lifting appliance can grab, load and unload the containers conveniently and rapidly, and the loading and unloading efficiency of the port is improved.

Description

technical field [0001] The invention belongs to the technical field of navigation and positioning, and in particular relates to a laser radar-assisted container positioning method for unmanned truck collection in ports. Background technique [0002] Smart ports are an inevitable trend in the development of modern ports. Its main purpose is to make full use of technical means such as the Internet of Things, sensor networks, cloud computing, and decision-making analysis and optimization. Information, realize the seamless connection and coordination between various resources and various participants in the port supply chain, so as to make a timely response to port management and form an informatized, intelligent and optimized modern port application. The realization of smart ports requires the collection, effective processing, integration and data mining of port terminal information, logistics equipment, yard storage operations, cargo transportation and other logistics informat...

AI Technical Summary

Problems solved by technology

However, UWB is seriously affected by metal occluded objects, and may even fail. It needs to be in open conditions to achieve a ranging accuracy of 10cm. However, the port environment is relatively complex, and there are often metal containers and objects such as car bodies. The occlusion phenomenon, which has a great impact on UWB, cannot guarantee open conditions, and is easily affected by metal occlusion objects, and it is difficult to achieve a ranging accuracy of 10cm. In addition, the allowable error of container alignment in the port environment is within 5cm. UWB is difficult Container alignment adapted to port environment

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